冗余度柔性杆机械臂自运动规划减振

基金项目:

国家教委和北京市科委及博士启动基金

详细信息

Vibration Reduction of Flexible Link RedundantRobot Manipulators by Self-motion Planning

School of Mechanical and Applied Electronics Engineering, Beijing Polytechnic University, Beijing, 100022

摘要: 提出了利用冗余度来减轻柔性杆机器人臂运动过程中的末端振动变形新方法,通过寻优确定机器人臂最佳的自身运动,使机器人臂末端在沿着预定轨迹运动的同时,具有最小的振动变形.平面三柔性杆机械臂动力学数值模拟显示了该方法的有效性.
- 机器人臂 /
- 自身运动 /
- 预定运动轨迹 /
- 优化 /
- 柔性变形
Abstract: A new method is presented and it uses redundancy to reduce the endpoint vibration of a flexible robot arm. The suitable self-motion with minimum endpoint vibration deformation is determined, through optimization while tracing prescribe trajectory. The dynamic simulation of a three flexible links robot manipulator shows the effectiveness of the method.
- robot manipulator /
- self-motion /
- prescribed trajectory /
- optimization /
- vibration deformation